/**

This file is part of MaCI/GIMnet.

MaCI/GIMnet is free software: you can redistribute it and/or modify it 
under the terms of the GNU Lesser General Public License as published 
by the Free Software Foundation, either version 3 of the License, or 
(at your option) any later version.

MaCI/GIMnet is distributed in the hope that it will be useful, but WITHOUT 
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 
FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public 
License for more details.

You should have received a copy of the GNU Lesser General Public 
License along with GIMnet. (See COPYING.LESSER) If not, see 
<http://www.gnu.org/licenses/>.

**/
/**
*  \class	TPose2D
*  \author 	Jari Saarinen
*  \date 	Fri Mar 10 12:26:39 2006

*  \version: 0.1  
* 
*	Implementation for 2D Pose for a robot.
*/

#ifndef T_POSE2_D_H
#define T_POSE2_D_H

#include "TAngle.h"
#include "TCoord2D.h"


class TPose2D
{
private: 
	TAngle a;	// Heading
	TCoord2D p; // Position

public:
	TPose2D();
	TPose2D(TAngle a, TCoord2D p);
	TPose2D(float a, float x, float y);
	~TPose2D();
//---------------------------------------------------------------------------//
	void setValue(float a, float x, float y);
	void setHeading(float a);
	void setHeading(TAngle a);
	void setPosition(float x,float y);
	void setPosition(TCoord2D p);
//---------------------------------------------------------------------------//
	float getX();
	float getY();
	float getA();
	TAngle getAngle();
	TCoord2D getPosition();
//---------------------------------------------------------------------------//
	//TPose2D operator +(TPose2D x) const;
	//TPose2D operator -(TPose2D x) const;
//---------------------------------------------------------------------------//



};          


#endif


